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update realsense examples for ros2 #1224

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merged 3 commits into from
Oct 17, 2024
Merged

update realsense examples for ros2 #1224

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0f3e5d1
update realsense examples
ARK3r Oct 16, 2024
19d2310
Modifiying realsense2 namespace instead.
matlabbe Oct 17, 2024
1ca3e81
single quote str
matlabbe Oct 17, 2024
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7 changes: 3 additions & 4 deletions rtabmap_examples/launch/realsense_d435i_color.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -2,8 +2,6 @@
# A realsense D435i
# Install realsense2 ros2 package (ros-$ROS_DISTRO-realsense2-camera)
# Example:
# $ ros2 launch realsense2_camera rs_launch.py enable_gyro:=true enable_accel:=true unite_imu_method:=1 enable_sync:=true
#
# $ ros2 launch rtabmap_examples realsense_d435i_color.launch.py

import os
Expand Down Expand Up @@ -39,9 +37,10 @@ def generate_launch_description():
PythonLaunchDescriptionSource([os.path.join(
get_package_share_directory('realsense2_camera'), 'launch'),
'/rs_launch.py']),
launch_arguments={'enable_gyro': 'true',
launch_arguments={'camera_namespace': '',
'enable_gyro': 'true',
'enable_accel': 'true',
'unite_imu_method': '1',
'unite_imu_method': '2',
'align_depth.enable': 'true',
'enable_sync': 'true',
'rgb_camera.profile': '640x360x30'}.items(),
Expand Down
5 changes: 3 additions & 2 deletions rtabmap_examples/launch/realsense_d435i_infra.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -37,9 +37,10 @@ def generate_launch_description():
PythonLaunchDescriptionSource([os.path.join(
get_package_share_directory('realsense2_camera'), 'launch'),
'/rs_launch.py']),
launch_arguments={'enable_gyro': 'true',
launch_arguments={'camera_namespace': '',
'enable_gyro': 'true',
'enable_accel': 'true',
'unite_imu_method': '1',
'unite_imu_method': '2',
'enable_infra1': 'true',
'enable_infra2': 'true',
'enable_sync': 'true'}.items(),
Expand Down
5 changes: 3 additions & 2 deletions rtabmap_examples/launch/realsense_d435i_stereo.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -37,9 +37,10 @@ def generate_launch_description():
PythonLaunchDescriptionSource([os.path.join(
get_package_share_directory('realsense2_camera'), 'launch'),
'/rs_launch.py']),
launch_arguments={'enable_gyro': 'true',
launch_arguments={'camera_namespace': '',
'enable_gyro': 'true',
'enable_accel': 'true',
'unite_imu_method': '1',
'unite_imu_method': '2',
'enable_infra1': 'true',
'enable_infra2': 'true',
'enable_sync': 'true'}.items(),
Expand Down